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Merge pull request #391 from borglab/feature/matrix-serialization 

Generic Eigen::Matrix serialization for boost
release/4.3a0
Varun Agrawal 2020-07-11 09:46:18 -04:00 committed by GitHub
parent 5dd1c8e3dc 09ddd433a6
commit 825119f12f
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GPG Key ID: 4AEE18F83AFDEB23
6 changed files with 60 additions and 19 deletions
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55
gtsam/base/Matrix.h
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@ -548,17 +548,47 @@ GTSAM_EXPORT Vector columnNormSquare(const Matrix &A);
namespace boost {
namespace serialization {
/**
* Ref. https://stackoverflow.com/questions/18382457/eigen-and-boostserialize/22903063#22903063
*
* Eigen supports calling resize() on both static and dynamic matrices.
* This allows for a uniform API, with resize having no effect if the static matrix
* is already the correct size.
* https://eigen.tuxfamily.org/dox/group__TutorialMatrixClass.html#TutorialMatrixSizesResizing
*
* We use all the Matrix template parameters to ensure wide compatibility.
*
* eigen_typekit in ROS uses the same code
* http://docs.ros.org/lunar/api/eigen_typekit/html/eigen__mqueue_8cpp_source.html
*/
// split version - sends sizes ahead
template<class Archive>
void save(Archive & ar, const gtsam::Matrix & m, unsigned int /*version*/) {
template<class Archive,
typename Scalar_,
int Rows_,
int Cols_,
int Ops_,
int MaxRows_,
int MaxCols_>
void save(Archive & ar,
const Eigen::Matrix<Scalar_, Rows_, Cols_, Ops_, MaxRows_, MaxCols_> & m,
const unsigned int /*version*/) {
const size_t rows = m.rows(), cols = m.cols();
ar << BOOST_SERIALIZATION_NVP(rows);
ar << BOOST_SERIALIZATION_NVP(cols);
ar << make_nvp("data", make_array(m.data(), m.size()));
}
template<class Archive>
void load(Archive & ar, gtsam::Matrix & m, unsigned int /*version*/) {
template<class Archive,
typename Scalar_,
int Rows_,
int Cols_,
int Ops_,
int MaxRows_,
int MaxCols_>
void load(Archive & ar,
Eigen::Matrix<Scalar_, Rows_, Cols_, Ops_, MaxRows_, MaxCols_> & m,
const unsigned int /*version*/) {
size_t rows, cols;
ar >> BOOST_SERIALIZATION_NVP(rows);
ar >> BOOST_SERIALIZATION_NVP(cols);
@ -566,8 +596,19 @@ namespace boost {
ar >> make_nvp("data", make_array(m.data(), m.size()));
}
// templated version of BOOST_SERIALIZATION_SPLIT_FREE(Eigen::Matrix);
template<class Archive,
typename Scalar_,
int Rows_,
int Cols_,
int Ops_,
int MaxRows_,
int MaxCols_>
void serialize(Archive & ar,
Eigen::Matrix<Scalar_, Rows_, Cols_, Ops_, MaxRows_, MaxCols_> & m,
const unsigned int version) {
split_free(ar, m, version);
}
} // namespace serialization
} // namespace boost
BOOST_SERIALIZATION_SPLIT_FREE(gtsam::Matrix);

2
gtsam/navigation/ImuFactor.h
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@ -164,7 +164,7 @@ private:
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
namespace bs = ::boost::serialization;
ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationType);
ar & bs::make_nvp("preintMeasCov_", bs::make_array(preintMeasCov_.data(), preintMeasCov_.size()));
ar & BOOST_SERIALIZATION_NVP(preintMeasCov_);
}
};

10
gtsam/navigation/ManifoldPreintegration.h
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@ -122,11 +122,11 @@ private:
ar & BOOST_SERIALIZATION_NVP(deltaTij_);
ar & BOOST_SERIALIZATION_NVP(deltaXij_);
ar & BOOST_SERIALIZATION_NVP(biasHat_);
ar & bs::make_nvp("delRdelBiasOmega_", bs::make_array(delRdelBiasOmega_.data(), delRdelBiasOmega_.size()));
ar & bs::make_nvp("delPdelBiasAcc_", bs::make_array(delPdelBiasAcc_.data(), delPdelBiasAcc_.size()));
ar & bs::make_nvp("delPdelBiasOmega_", bs::make_array(delPdelBiasOmega_.data(), delPdelBiasOmega_.size()));
ar & bs::make_nvp("delVdelBiasAcc_", bs::make_array(delVdelBiasAcc_.data(), delVdelBiasAcc_.size()));
ar & bs::make_nvp("delVdelBiasOmega_", bs::make_array(delVdelBiasOmega_.data(), delVdelBiasOmega_.size()));
ar & BOOST_SERIALIZATION_NVP(delRdelBiasOmega_);
ar & BOOST_SERIALIZATION_NVP(delPdelBiasAcc_);
ar & BOOST_SERIALIZATION_NVP(delPdelBiasOmega_);
ar & BOOST_SERIALIZATION_NVP(delVdelBiasAcc_);
ar & BOOST_SERIALIZATION_NVP(delVdelBiasOmega_);
}
};

2
gtsam/navigation/PreintegratedRotation.h
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@ -61,7 +61,7 @@ struct GTSAM_EXPORT PreintegratedRotationParams {
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
namespace bs = ::boost::serialization;
ar & bs::make_nvp("gyroscopeCovariance", bs::make_array(gyroscopeCovariance.data(), gyroscopeCovariance.size()));
ar & BOOST_SERIALIZATION_NVP(gyroscopeCovariance);
ar & BOOST_SERIALIZATION_NVP(omegaCoriolis);
ar & BOOST_SERIALIZATION_NVP(body_P_sensor);
}

4
gtsam/navigation/PreintegrationParams.h
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@ -75,8 +75,8 @@ protected:
namespace bs = ::boost::serialization;
ar & boost::serialization::make_nvp("PreintegratedRotation_Params",
boost::serialization::base_object<PreintegratedRotationParams>(*this));
ar & bs::make_nvp("accelerometerCovariance", bs::make_array(accelerometerCovariance.data(), accelerometerCovariance.size()));
ar & bs::make_nvp("integrationCovariance", bs::make_array(integrationCovariance.data(), integrationCovariance.size()));
ar & BOOST_SERIALIZATION_NVP(accelerometerCovariance);
ar & BOOST_SERIALIZATION_NVP(integrationCovariance);
ar & BOOST_SERIALIZATION_NVP(use2ndOrderCoriolis);
ar & BOOST_SERIALIZATION_NVP(n_gravity);
}

6
gtsam/navigation/TangentPreintegration.h
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@ -135,9 +135,9 @@ private:
ar & BOOST_SERIALIZATION_NVP(p_);
ar & BOOST_SERIALIZATION_NVP(biasHat_);
ar & BOOST_SERIALIZATION_NVP(deltaTij_);
ar & bs::make_nvp("preintegrated_", bs::make_array(preintegrated_.data(), preintegrated_.size()));
ar & bs::make_nvp("preintegrated_H_biasAcc_", bs::make_array(preintegrated_H_biasAcc_.data(), preintegrated_H_biasAcc_.size()));
ar & bs::make_nvp("preintegrated_H_biasOmega_", bs::make_array(preintegrated_H_biasOmega_.data(), preintegrated_H_biasOmega_.size()));
ar & BOOST_SERIALIZATION_NVP(preintegrated_);
ar & BOOST_SERIALIZATION_NVP(preintegrated_H_biasAcc_);
ar & BOOST_SERIALIZATION_NVP(preintegrated_H_biasOmega_);
}
public: